http://macx-dvd-ripper-pro-for.....tonic.com/ You might want to try this. It is a trial version. Occasionally you will see the full version given away for free. I have used the full version and works okay, have not used it for some time however.

This process always involves installing a DVD decrypter first to break the Content Scramble System (CSS) copy protection so your transcoder (HandBrake) can read the information and copy it to a self contained video file.

This method works fine but it means that your decrypter needs to be able to decrypt anything that you want to rip. In the past, legal action has been taken against DVD decrypting software to shut down development claiming it to be illegal. There is however a work around.

This is in the link that Yarveded posted he is working from. So, I understand his confusion when he is now told it can't be done or is illegal.